Abstract: Legged walking and climbing robots have recently achieved important results and developments, but they still need further improvement and study. As demonstrated by recent works, bio-mimesis can lead
to important technical solutions in order to achieve efficient systems able to climb, walk, fly or swim
(Saunders et al., 2006 , Ayers, 2001 , Safak and Adams, 2002 ). In this paper, taking into account
the anatomy and the adhesive and locomotion capabilities of the spider (i.e., an eight-legged system), we
present on the one hand a study of the foot force and torque distribution in different operative and slope
conditions and, on the other hand, a posture evaluation by comparing different leg configurations in order
to minimize the torque effort requirements.